WO2005058691A1 - Servo-moteur automatique et dispositif de manoeuvre automatique - Google Patents

Servo-moteur automatique et dispositif de manoeuvre automatique Download PDF

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Publication number
WO2005058691A1
WO2005058691A1 PCT/JP2004/018966 JP2004018966W WO2005058691A1 WO 2005058691 A1 WO2005058691 A1 WO 2005058691A1 JP 2004018966 W JP2004018966 W JP 2004018966W WO 2005058691 A1 WO2005058691 A1 WO 2005058691A1
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WO
WIPO (PCT)
Prior art keywords
turning
ship
steering angle
turning center
input
Prior art date
Application number
PCT/JP2004/018966
Other languages
English (en)
Japanese (ja)
Inventor
Kazutoshi Shimo
Hitoshi Maeno
Tomoko Matsumoto
Original Assignee
Furuno Electric Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=34697097&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2005058691(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Furuno Electric Co., Ltd. filed Critical Furuno Electric Co., Ltd.
Priority to GB0611641A priority Critical patent/GB2424967B/en
Priority to US10/582,970 priority patent/US8626365B2/en
Publication of WO2005058691A1 publication Critical patent/WO2005058691A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles

Definitions

  • the present invention relates to an automatic steering device for a ship that outputs a command rudder angle based on a deviation of a heading from a reference course, and more particularly to an automatic steering device capable of turning around a desired turning center position with a desired turning radius. It relates to a steering device. Background art
  • the conventional automatic steering system sets the target course manually and automatically steers the ship so that the azimuth deviation from the current course is "0". At this time, if the initial azimuth deviation is large, a large value is output for the command steering angle, so a limiter is provided.For values above a certain specified value, a load exceeding the specified value is applied to the actual ship steering. So that it does not start.
  • the output of the limiter is transmitted to Actuyue, the actual steering angle is output and added to the disturbance factors, and then transmitted to the rudder of the hull.
  • Ship motion is measured as an azimuth angle by an azimuth sensor.
  • the turning radius and the turning center are set in a plane along with the target course. It is set in advance as accumulated information on the coordinate axes.
  • the rudder angle is adjusted so that the own ship trajectory draws an arc of the turning radius with respect to the turning center.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 08-1191997
  • An object of the present invention is to provide an automatic steering control device and an automatic steering device provided with means for turning around a desired turning center position without being affected by external factors such as tidal currents. Disclosure of the invention
  • An automatic steering control device is provided in a ship provided with a means for measuring the position of the own ship, and outputs a command steering angle based on a deviation of a heading from a reference course.
  • Input means for inputting a position; storage means for storing the turning center position input by the input means; and distance from the own ship position measured by the own ship position measuring means to the turning center stored in the storage means.
  • turning angle output means for outputting a command steering angle so that the ship's trajectory draws an arc of the turning radius with respect to the turning center.
  • an automatic steering control device is provided in a ship provided with a means for measuring a position of the own ship, and outputs a command steering angle based on a deviation of a heading from a reference course.
  • Input means for inputting a turning radius and a turning center position
  • Storage means for storing the turning radius and the turning center position input by the input means; and a distance from the own ship position measured by the own ship position measuring means to the turning center stored in the storage means being the storage means.
  • Steering angle output means for outputting a command steering angle so as to approach the turning radius stored in the vehicle, wherein the steering angle output means has a distance from the own ship position to the turning center substantially equal to the turning radius.
  • a command rudder angle is output so as to adjust the rudder angle so that the own ship's trajectory draws an arc of the turning radius with respect to the turning center.
  • the automatic steering device is provided in a ship provided with a means for measuring the position of the own ship, and outputs the command steering angle based on the deviation of the heading from the reference course.
  • Input means for inputting a position; storage means for storing the turning center position input by the input means; and a distance from the own ship position measured by the own ship position measuring means to the turning center stored in the storage means.
  • a turning radius is defined as a distance, and a steering angle adjusting means for adjusting a steering angle with respect to a center of the turning so that the trajectory of the ship follows an arc formed by the turning radius is provided.
  • An automatic steering device is provided in a ship provided with a means for measuring the position of the own ship, and outputs a command steering angle based on a deviation of a heading from a reference course.
  • Input means for inputting the turning center position and the turning radius and the turning center position input by the input means; and storing the own ship position measured by the own ship position measuring means from the own ship position to the storing means.
  • Steering angle adjusting means for adjusting a steering angle so that the distance to the stored turning center approaches the turning radius stored in the storage means, wherein the steering angle adjusting means is provided from the own ship position to the turning center. When the distance is substantially equal to the turning radius, the steering angle is adjusted so that the own ship trajectory draws an arc of the turning radius with respect to the turning center.
  • the input means of the automatic steering device can input a desired turning direction
  • the storage means stores the turning direction input by the input means
  • the steering angle adjusting means Is characterized in that the steering angle is adjusted so as to turn in the turning direction stored in the storage means.
  • the automatic steering device is provided in a ship provided with a means for measuring the position of the own ship, and outputs a command steering angle based on a deviation of the heading from a reference course.
  • a straight line connecting the own ship position and the turning center stored in the means for storing the turning center position is obtained, and the straight line and the turning radius stored in the storage means are drawn with the turning center stored in the storage means as a center.
  • the intersection of the turning circle with the turning circle, the tangent to the turning circle at the intersection, the distance difference between the own ship position and the intersection, and the direction of the course of the own ship are the tangents.
  • an automatic steering control device and an automatic steering device including a means for turning around a desired turning center position without being affected by external factors such as tidal currents.
  • FIG. 1 is a diagram showing a problem of turning by a conventional automatic steering device.
  • FIG. 2 is a block diagram of the automatic steering device of the present invention.
  • FIG. 3 is a diagram showing a coordinate system when a ship equipped with the automatic steering device of the present invention starts turning motion.
  • FIG. 4 is an enlarged view of the own ship shown in FIG.
  • FIG. 5 is a diagram showing a state in which a ship equipped with the automatic steering device of the present invention starts turning motion.
  • FIG. 6 is a flowchart showing an operation procedure of the automatic steering device of the present invention.
  • FIG. 7 is a flowchart showing the operation procedure of kp calculation.
  • FIG. 8 is a diagram showing a temporal change of the correction value calculation coefficient k and the kp adjustment width lkp.
  • FIG. 9 is a diagram showing the time change of the radius error and the actual steering angle.
  • FIG. 10 is a plot diagram from when the turning motion is instructed until the turning state is reached.
  • FIG. 2 shows the configuration of the automatic steering device of the present invention.
  • the user inputs a turning center, a turning radius, and a turning direction via the operation unit 23.
  • the operation unit 23 is composed of, for example, a personal computer (hereinafter, a personal computer) and has a storage unit therein. In the storage unit, the turning center, turning radius and turning direction input by the user can be stored.
  • Reference numeral 26 denotes a rudder, which includes a rudder angle adjusting means for adjusting a rudder angle based on a command from the control unit 25.
  • the command issued to the rudder 26 as the rudder angle adjusting means is calculated by the control unit 25 based on the aforementioned turning center, turning radius and turning direction, and the heading obtained from the direction sensor 24. .
  • FIG. 3 is a diagram showing a coordinate system when a ship equipped with the automatic steering device of the present invention starts turning motion.
  • FIG. 4 is an enlarged view of the own ship shown in FIG.
  • FIG. 5 is a diagram showing a state in which a ship equipped with the automatic steering device of the present invention starts turning motion.
  • the ship equipped with the automatic steering device of the present invention is equipped with a navigation device 22 (FIG. 2) such as a GPS positioning device for measuring the position of the ship, the ship's position S (x, y) is determined. Positioning is possible, and since the operator sets the turning center O (xo, y ⁇ ) and turning radius, these values are known values. From the above, the radius error obtained by subtracting the turning radius from the distance between the ship's position and the turning center: R-err can be easily calculated. It is possible to
  • the point at which the straight line connecting the ship's position and the turning center intersects the turning circle is defined as P, the tangent on the turning circle at the point P is obtained, and the tangent direction: Co-P is obtained according to the turning direction.
  • the radius error: R — e r r is multiplied by a variable coefficient to find the set direction C o — set. That is, if R—e r r is positive (outside the turning radius),
  • the set direction C o — set obtained above is used as the control course of the autopilot.
  • kp is a variable coefficient that changes in conjunction with a radial error that changes from moment to moment, as described later.
  • This kp is a value related to the radius error. This value is adjusted by adding and subtracting ⁇ kp at regular intervals depending on the required control strength. In the example shown below, if the evaluation value calculated based on the radius error and azimuth deviation is better than the evaluation value at the time of the previous adjustment, subtract 2p as a constant value from kp at that time, and if it is worse, Akp is added as a constant value to kp at that time.
  • the automatic steering device of the present invention has a feedback mechanism in addition to the conventional configuration, The amount of deviation from the desired turning circle is calculated periodically, and control is performed so that the error approaches zero.
  • the ship speed V Before turning, determine the ship speed V using the navigation system.If the ship speed V is higher than the preset speed (10 kt in this example), it is determined that the turning speed is too fast to perform the turning motion. Does not enter.
  • Is specified by the operator and they are stored in the storage unit in the operation unit. These values can be set in advance.
  • the operator inputs, it obtains the position of the ship from the navigation system and the heading from the heading sensor.
  • the distance Rnow from the own ship position S to the turning center O and the turning radius Rcirc1e (set by the operator), which is the distance from the intersection P to the turning center O, are specified.
  • the separation is calculated as the radius error R-err, which is the distance from the ship's position to the intersection P.
  • a tangent to the turning circle at the intersection P of the turning circle and the straight line drawn from the turning center O is determined for the own ship position S.
  • the tangential direction direction Co_P is calculated as described above.
  • the declination DV is determined from the difference between the set heading Co-set and the heading heading Hd.
  • the turning process of the ship is performed in the “turning process” step of FIG.
  • the set direction is recalculated. After performing this process, the “set azimuth output” to the control unit of the autopilot is performed.
  • the radius error R_e rr and within a certain + — range around the position P in FIG. 5 enable the "Set azimuth output", and when it is beyond that range, do not enter the turning motion immediately, but gradually plan while rotating the orbit larger than the desired turning circle Rotate so as to approach the turning circle.
  • variable coefficient which is obtained by multiplying the radius error: R—e r r by the variable coefficient (see FIG. 7).
  • This kp is multiplied by R_err when calculating the set direction C o — set (see the above equation), and as described above, is a variable coefficient that changes in conjunction with the ever-changing R — e r r.
  • This kp is adjusted at regular intervals by adding and subtracting Akp according to the required control strength.
  • the proportionality coefficient kp applied to the radius error R_err is adjusted by the evaluation value eV1 obtained from the argument and the radius error and the previous value eva1_1st of the evaluation value.
  • im_e va K co_e va 1 means a dead zone of the evaluation value and a coefficient for calculating ⁇ kp, respectively.
  • (S8) Rewrite the value of eval 1 ast.
  • the process of (S6) (a) tends to increase the evaluation where there is a strong control, so that kp increases and (S6 ) (P), the evaluation becomes worse (excessive control), so kp becomes smaller, and as a result, kp is gradually adjusted. Further, the value of ⁇ kp rises and falls from a negative value to a positive value depending on the value of ⁇ eVa1.
  • this loop is repeated alternately on the left and right.
  • R 0.2
  • S hip's LL means a mode in which the ship's position at the start is centered on the turning circle. (There are other modes, such as specifying the center with a force sol from a distance, or setting the route and centering on the final point). As an external factor, it is receiving a 1.5 kt tidal current in a certain direction.
  • the heading is opposite to the specified turning direction, but if the tangential heading and the heading of your ship deviate greatly (for example, 40 °), change the course using the tangent heading as the set direction first. (Turn right or near the left), and then move to control to correct the radius after the declination between the tangent and the heading decreases.
  • the above is an example where the operator specifies all of the turning center position, turning radius, and turning direction.
  • the present invention is not limited to the above embodiment.
  • the steering angle is adjusted until the distance from the own ship position to the turning center becomes substantially equal to the turning radius, and then, from that time, the own ship trajectory draws an arc of the turning radius with respect to the turning center.
  • the steering angle may be adjusted in advance.
  • the operator may specify only the turning center position and turning radius, and the turning may be automatically performed in a direction close to the heading, without specifying the turning direction.
  • the distance from the turning center position to the ship's position is automatically recognized as the turning radius, and control can be performed so that the turning motion can be performed from that point in the direction of the ship's traveling direction. It is.
  • the conventional automatic steering device can only make a straight turn toward a target direction, but according to the present invention, it is possible to turn accurately around a destination (a specified turning center position) with a specified turning radius. Become.
  • This function will greatly expand the applications of the automatic steering system. For example,
  • the present invention relates to an automatic steering device for a ship that outputs a command rudder angle based on a deviation of a heading from a reference course, and more particularly to an automatic steering device capable of turning around a desired turning center position with a desired turning radius. It can be used for steering devices.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un servo-moteur automatique pouvant braquer un navire selon un rayon de giration donné autour d'un point fixe donné, sans être entravé par des causes externes, telles que le courant de marée. Un opérateur spécifie une position centrale, un rayon de giration, et une direction de giration pour le braquage; calcule une tangente par rapport à un cercle de giration, au point d'intersection d'une ligne droite tirée du centre de giration à la position du navire et du cercle de giration; et contrôle la course du navire pour approcher ce dernier de la tangente.
PCT/JP2004/018966 2003-12-16 2004-12-13 Servo-moteur automatique et dispositif de manoeuvre automatique WO2005058691A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB0611641A GB2424967B (en) 2003-12-16 2004-12-13 Automatic steering control apparatus and autopilot
US10/582,970 US8626365B2 (en) 2003-12-16 2004-12-13 Automatic steering control apparatus and autopilot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003418313A JP4261330B2 (ja) 2003-12-16 2003-12-16 自動操舵制御装置および自動操舵装置
JP2003-418313 2003-12-16

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JP (1) JP4261330B2 (fr)
GB (1) GB2424967B (fr)
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US8626365B2 (en) 2014-01-07
JP4261330B2 (ja) 2009-04-30
US20070162207A1 (en) 2007-07-12
GB2424967A (en) 2006-10-11
JP2005178434A (ja) 2005-07-07
GB0611641D0 (en) 2006-07-19
GB2424967B (en) 2008-02-27

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